CN111216117A - Integrative joint of robot of nested type two-stage planet speed reduction structure - Google Patents
Integrative joint of robot of nested type two-stage planet speed reduction structure Download PDFInfo
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- CN111216117A CN111216117A CN202010056463.5A CN202010056463A CN111216117A CN 111216117 A CN111216117 A CN 111216117A CN 202010056463 A CN202010056463 A CN 202010056463A CN 111216117 A CN111216117 A CN 111216117A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Robotics (AREA)
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Abstract
The invention discloses a robot integrated joint with a nested two-stage planetary reduction structure, which comprises: the robot comprises a motor, a speed reducer and a joint shell, wherein the joint shell is connected with a robot body or a robot upper-stage limb connecting rod, and the motor and the speed reducer are arranged at two ends of the joint shell along the axial direction; the speed reducer is connected with an output shaft of the motor; the robot comprises a primary planetary transmission wheel assembly and a secondary planetary transmission wheel assembly, wherein the primary planetary transmission wheel assembly is connected with an output shaft of a motor, and the secondary planetary transmission wheel assembly is fixedly connected with a next-stage limb connecting rod of the robot; the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly are of an inner-outer nested structure and are in transmission connection through a shaft ring. The invention discloses a robot integrated joint with a nested two-stage planetary reduction structure, which integrates a motor, a reducer and a joint shell to form an integrated robot joint with compact structure, small inertia, power generation and certain speed change capability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot integrated joint with a nested two-stage planetary reduction structure.
Background
The robot joint is used for connecting the robot connecting rod component unit on one hand and providing operation power for the robot on the other hand. The robot joint generally comprises a driving motor, a speed reducer, a sensing and auxiliary component, a joint shell, a mechanical interface and the like, and compared with other components in a robot system, the robot joint has higher requirements on the whole design, including weight reduction, volume reduction, realization of a proper transmission ratio, improvement of response capability and the like.
However, in the existing design scheme commonly adopted by the robot joint device, universal components such as a motor and a reducer are directly connected and functionally combined, and a substantial integrated design is lacked, so that the mass size limitation and high torque density of the whole joint are difficult to combine, and the reduction ratio configuration is not flexible enough, which is one of the key factors restricting the technical development of the high-dynamic-performance bionic robot and the industrial robot.
Therefore, how to provide a robot integrated joint with a compact nested two-stage planetary reduction structure is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides a robot integrated joint with a nested two-stage planetary reduction structure, which integrates a motor, a reducer and a joint shell, and has the advantages of compact structure, small inertia, power generation and certain speed change capability.
In order to achieve the purpose, the invention adopts the following technical scheme: a robot integrated joint of a nested two-stage planetary reduction structure comprises: the robot comprises a motor, a speed reducer and a joint shell, wherein the joint shell is connected with a robot body or a limb connecting rod at the upper stage of the robot and is used as an input end of a robot integrated joint; the speed reducer is connected with an output shaft of the motor; the speed reducer is fixedly connected with the lower-stage limb connecting rod of the robot; the motor is a power source of the integrated joint of the robot, and the rotary power generated by the motor is output as the power of the robot joint after being changed in speed by the speed reducer.
Wherein, the reduction gear is inside and outside nested structure, includes: the primary planetary transmission wheel assembly is connected with an output shaft of the motor, and the secondary planetary transmission wheel assembly is fixedly connected with a next-stage limb connecting rod of the robot; and the primary planetary transmission wheel component and the secondary planetary transmission wheel component are arranged in a parallel type internal and external nested structure and are in transmission connection through a shaft collar.
Preferably, the primary planetary transmission wheel assembly comprises: the primary sun gear is fixedly connected with a rotor of the motor; the primary sun gear is meshed with the primary planet gear, the primary planet gear is connected with the primary planet carrier through a pin shaft, an inner gear ring is used as a gear ring structure of the primary planet transmission wheel assembly, and the primary planet gear is meshed with the inner gear ring; the primary planet carrier is fixedly connected with the joint shell; and the rotation axes of the primary sun gear and the inner gear ring are in a collinear relationship.
The secondary planetary transmission wheel assembly comprises: the outer gear ring is fixed on the outer surface of the collar, the inner surface of the collar is fixedly connected with the inner gear ring, and the rotation axes of the outer gear ring, the inner gear ring and the collar are in a collinear relationship; the outer gear ring is used as a sun gear structure of the secondary planetary transmission wheel assembly and meshed with the secondary planet gear, the secondary planet gear is connected with the secondary planet carrier through a pin shaft, and the secondary planet gear is meshed with the secondary gear ring; the secondary gear ring is fixedly connected with the joint shell; the second-stage planet carrier is fixedly connected with a next-stage limb connecting rod of the robot and serves as an output connecting end of the robot joint; the rotation axes of the outer gear ring, the secondary planet wheel and the secondary planet carrier are in a collinear relation.
Preferably, the inner gear ring, the shaft collar and the outer gear ring form a double-faced gear, the double-faced gear is in a ring body structure, the primary planetary transmission wheel assembly is located in a cylindrical cavity inside the ring body, the secondary planetary transmission wheel assembly is located outside the ring body, and the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly form a parallel type internal and external nested structure in a position relation; the primary planetary transmission wheel assembly transmits power to the secondary planetary transmission wheel assembly through the double-faced gear.
The rotary power input by the motor is transmitted by the power of the primary sun gear, the primary planet gear, the inner gear ring of the double-sided gear, the outer gear ring of the double-sided gear, the secondary planet gear and the secondary planet carrier and is output to the next-stage limb connecting rod by the secondary planet carrier. Wherein, the rotation axes of the first-stage sun gear, the double-faced gear and the second-stage planet carrier are in a collinear relation. The primary planetary transmission wheel component and the secondary planetary transmission wheel component are in a nested structure, and the secondary planetary transmission wheel component is nested outside the primary planetary transmission wheel component; the transmission relation is a series structure, and the power output by the motor is transmitted to the secondary planetary transmission wheel assembly through the primary planetary transmission wheel assembly and is output by the secondary planetary transmission wheel assembly.
Preferably, the inner gear ring and the outer gear ring are respectively connected with the collar through splines.
Preferably, the inner gear ring and the outer gear ring are respectively connected with the collar by adhesive.
The primary planetary transmission wheel component adopts a ring-moving type working mode, and the rotating power is transmitted to the inner gear ring through the primary sun wheel and the primary planet wheel so as to drive the double-faced gear to rotate around the movement axis of the primary sun wheel; in the working process, the primary planet carrier is fixed, the inner gear ring outputs rotary power, and the primary planetary transmission wheel assembly adopts a ring-moving type working mode.
The secondary planetary transmission wheel assembly works in a frame-moving type, and the rotary power of the double-sided gear is transmitted to the secondary planetary frame through the outer gear ring and the secondary planet wheel, so that the secondary planetary frame is driven to rotate around the movement axis of the primary sun wheel, and the power output of the robot joint is realized; in the working process, the secondary gear ring is fixed, and the secondary planet carrier outputs rotating power, namely the secondary planetary transmission wheel assembly adopts a frame moving type working mode.
The design scheme of the special position relation of the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly enables the robot joint to achieve larger reduction ratio and higher torque density in a compact space compared with a traditional planetary reducer. Under a specific tooth number configuration, the speed reducer can provide a reduction ratio of 10-12 and high torque density within an axial dimension of 40 mm.
Through the technical scheme, compared with the prior art, the invention discloses a robot integrated joint with a nested two-stage planetary reduction structure, and the following technical effects are achieved:
(1) the robot joint is designed in an integral mode, functions and structures of the motor, the speed reducer and the joint shell are designed in an integral mode, the structure is compact, the weight is light, and high torque density can be achieved;
(2) the speed reducer adopts an internal and external nested structure, the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly are in a parallel structure in a form and position relation, and are in a series structure in a transmission relation, so that a reduction ratio of 10-12 can be provided within an axial dimension of 40mm, the flattening design of a robot joint in the axial direction is realized, and the bionic robot joint is easy to use in a bionic robot limb with a compact structure;
(3) the double-sided gear effectively connects the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly, realizes an internal and external nested structure with compact space, and effectively reduces the size of a joint.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram provided by the present invention.
Figure 2 is a schematic view of the overall assembly scheme provided by the present invention.
Fig. 3 is a schematic structural diagram of a double-sided gear provided by the invention.
Fig. 4 is a schematic view of a double-sided gear provided by the present invention.
Fig. 5 is a schematic view of an application scenario provided by the present invention.
Wherein, each figure is as follows:
1-motor, 2-speed reducer, 3-joint shell, 21-primary sun gear, 22-primary planet gear, 23-primary planet carrier, 24-double-sided gear, 25-secondary planet gear, 26-secondary planet carrier, 27-secondary gear ring, 241-inner gear ring, 242-outer gear ring, 243-shaft ring, 41-upper-stage limb connecting rod, 42-lower-stage limb connecting rod, 11-motor stator and 12-motor rotor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the embodiment of the invention discloses a robot integrated joint with a nested two-stage planetary reduction structure, which comprises a motor 1, a reducer 2 and a joint shell 3, wherein the joint shell 3 is connected with a robot body or a last-stage limb connecting rod 41 of a robot and serves as an input connecting end of the robot joint. The motor 1 and the speed reducer 2 are respectively arranged at two axial ends of the joint shell 3 and are respectively fixedly connected with the joint shell 3, the motor 1 is a power source of the robot joint, rotating power generated by the motor 1 is output as power of the robot joint after being subjected to speed change through the speed reducer 2, and the motor 1 and the speed reducer 2 are arranged in series to jointly form an internal transmission wheel assembly of the robot joint.
Fig. 2 is a schematic diagram of the overall assembly scheme of the robot integrated joint with the nested two-stage planetary reduction structure. As shown in fig. 2, the motor 1 includes a stator 11 and a rotor 12, wherein the stator 11 is fixedly connected to the joint housing 3, the rotor 12 is connected to the stator 11 through a bearing, and the rotor 12 and the stator 11 can rotate relatively.
The speed reducer 2 comprises a primary sun gear 21, a primary planet gear 22, a primary planet carrier 23, a double-faced gear 24, a secondary planet gear 25, a secondary planet carrier 26 and a secondary gear ring 27. The primary sun gear 21 is fixedly connected with the rotor 12. The primary planet carrier 23 is fixedly connected with the joint shell 3, and the secondary gear ring 27 is fixedly connected with the joint shell 3. The second-stage planet carrier 26 is fixedly connected with the next-stage limb connecting rod 42 of the robot and serves as an output connecting end of the robot joint.
The double-sided gear 24 is a circular ring structure and comprises an inner gear ring 241, an outer gear ring 242 and a collar 243. The collar 243 is an annular body structure, the inner surface of the annular body of the collar 243 is fixedly connected with the inner gear ring 241, the outer surface of the annular body of the collar 243 is fixedly connected with the outer gear ring 242, and the collar 243 is in a collinear relationship with the rotation axes of the inner gear ring 241 and the outer gear ring 242.
The inner gear ring 241, the primary sun gear 21, the primary planet gear 22 and the primary planet carrier 23 form a primary planet transmission wheel component together; the primary sun gear 21 is meshed with the primary planet gear 22, the primary planet gear 22 is connected with the primary planet carrier 23 through a pin shaft, and the primary planet gear 22 is meshed with the inner gear ring 241; the outer gear ring 242 of the double-sided gear 24, the secondary planet gear 25, the secondary planet carrier 26 and the secondary gear ring 27 form a secondary planet transmission wheel assembly together; the outer gear ring 242 functions as a secondary sun gear and is meshed with the secondary planet gear 25, the secondary planet gear 25 is connected with the secondary planet carrier 26 through a pin shaft, and the secondary planet gear 25 is meshed with the secondary gear ring 27; the rotary power input by the motor 1 is sequentially transmitted and output through the primary sun gear 21, the primary planet gear 22, the inner gear ring 241, the outer gear ring 242, the secondary planet gear 25 and the secondary planet carrier 26, and is output to the next-stage limb connecting rod 42 of the robot.
Wherein, the rotation axes of the primary sun gear 21 and the inner gear ring 241 are in a collinear relationship; the rotation axes of the outer ring gear 242, the secondary planet gears 25 and the secondary planet carrier 26 are in a collinear relationship.
The inner gear ring 241 is used as a gear ring structure of the primary planetary gear assembly and is meshed with the primary planet wheel 22, and the outer gear ring 242 is used as a sun wheel structure of the secondary planetary gear assembly and is meshed with the secondary planet wheel 25.
Specifically, the speed reducer 2 includes a primary planetary drive wheel assembly and a secondary planetary drive wheel assembly. The primary planetary transmission wheel component is positioned in a cylindrical cavity inside the double-faced gear 24 circular ring body structure, and the secondary planetary transmission wheel component is positioned outside the double-faced gear 24 circular ring body structure. The shape and position relationship of the primary planetary transmission wheel component and the secondary planetary transmission wheel component is an inner and outer nested structure, and the secondary planetary transmission wheel component is nested outside the primary planetary transmission wheel component; the transmission relation is a series structure, and the power output by the motor 1 is transmitted to the secondary planetary transmission wheel assembly through the primary planetary transmission wheel assembly and is output by the secondary planetary transmission wheel assembly.
The primary planetary transmission wheel component adopts a ring-motion type working mode, and the rotary power output by the motor 1 is transmitted to the inner gear ring 241 through the primary sun wheel 21 and the primary planet wheel 22, so that the double-faced gear 24 is driven to rotate around the movement axis of the primary sun wheel 21; in the working process, the primary planet carrier 23 is fixed, and the annular gear 241 outputs rotary power, i.e. the primary planetary transmission wheel assembly adopts a ring motion type working mode.
The secondary planetary transmission wheel assembly works in a frame-moving type, and the rotating power of the double-sided gear 24 is transmitted to the secondary planetary frame 26 through the outer gear ring 242 and the secondary planetary wheel 25, so that the secondary planetary frame 26 is driven to rotate around the movement axis of the primary sun wheel 21, and the power output of the robot joint is realized; in the working process, the secondary gear ring 27 is fixed, and the secondary planet carrier 26 outputs rotary power, i.e. the secondary planetary transmission wheel assembly adopts a frame-moving type working mode.
Compared with the traditional planetary gear train structure, the single disc surface comprises the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly which are in a nested relation, and the transmission relation of the two stages of transmission wheel assemblies is in series connection, so that the space originally used for the single-stage planetary gear train is more fully utilized, and the speed reducer has a relatively high speed reduction ratio. The speed reducer 2 can provide a speed reduction ratio of 10-12 within an axial dimension of 40mm under a specific tooth number configuration, so that high torque density is realized.
Fig. 3 and 4 are a schematic view and a schematic view of a double-sided gear. The double-faced gear 24 is a fixed connection combination of an inner gear ring 241, an outer gear ring 242 and a collar 243, and the basic processing mode adopts one of the following modes:
an inner gear ring 241, an outer gear ring 242 and a shaft ring 243 are directly machined on a blank of the double-sided gear 24; the method comprises the following steps of (1) independently processing single parts of an inner gear ring 241, an outer gear ring 242 and a collar 243, and connecting the inner gear ring 241, the collar 243 and the outer gear ring 242 into a whole through splines;
or the inner gear ring 241, the outer gear ring 242 and the collar 243 are separately machined and the inner gear ring 241, the collar 243 and the outer gear ring 242 are connected into a whole through the adhesive.
Fig. 5 is a schematic diagram of an application example of a robot integrated joint of a nested two-stage planetary reduction structure according to the invention. Wherein, the upper limb connecting rod 41 of the robot is fixedly connected with the joint casing 3, the lower limb connecting rod 42 of the robot is fixedly connected with the second-stage planet carrier 26, and the rotary power output by the motor 1 is output to the lower limb connecting rod 42 of the robot after being changed in speed by the speed reducer 2, so that the lower limb connecting rod 42 of the robot is driven to move.
The embodiment shows that the robot integrated joint provided by the invention has a compact structure and a simple connection scheme, and can be used for a high-performance bionic arm and bionic leg structure system of a robot.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A robot integrated joint of a nested two-stage planetary reduction structure comprises: the robot comprises a motor (1), a speed reducer (2) and a joint shell (3), wherein the joint shell (3) is fixedly connected with a robot body or a robot upper-stage limb connecting rod (41); the speed reducer (2) is fixedly connected with a lower-stage limb connecting rod (42) of the robot; the motor (1) and the speed reducer (2) are arranged at two ends of the joint shell (3) along the axial direction and are fixedly connected with the joint shell (3); the speed reducer (2) is connected with an output shaft of the motor (1); characterized in that said reducer (2) comprises: the primary planetary transmission wheel assembly is connected with an output shaft of the motor (1), and the secondary planetary transmission wheel assembly is fixedly connected with a next-stage limb connecting rod (42) of the robot; the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly are of an inner-outer nested structure and are in transmission connection through a shaft ring (243).
2. A robot integrated joint of a nested type two-stage planetary reduction structure according to claim 1, wherein the primary planetary transmission wheel assembly comprises: the motor comprises a primary sun gear (21), a primary planet gear (22), a primary planet carrier (23) and an inner gear ring (241), wherein the primary sun gear (21) is fixedly connected with a rotor (12) of the motor (1); the primary sun gear (21) is meshed with the primary planet gear (22), the primary planet gear (22) is connected with the primary planet carrier (23) through a pin shaft, and the primary planet gear (22) is meshed with the inner gear ring (241); the primary planet carrier (23) is fixedly connected with the joint shell (3); the rotation axes of the primary sun gear (21) and the inner gear ring (241) are in a collinear relationship;
the secondary planetary transmission wheel assembly comprises: the outer gear ring (242), the secondary planet gear (25), the secondary planet carrier (26) and the secondary gear ring (27), the outer gear ring (242) is fixed on the outer side of the collar (243), and the inner side of the collar (243) is fixedly connected with the inner gear ring (241);
and the axes of rotation of the outer ring gear (242), inner ring gear (241) and collar (243) are in a collinear relationship;
the outer gear ring (242) is meshed with the secondary planet gear (25), the secondary planet gear (25) is connected with the secondary planet carrier (26) through a pin shaft, and the secondary planet gear (25) is meshed with the secondary gear ring (27); the secondary gear ring (27) is fixedly connected with the joint shell (3); the secondary planet carrier (26) is fixedly connected with a next-stage limb connecting rod (42) of the robot and serves as an output connecting end of the robot joint;
the rotation axes of the outer gear ring (242), the secondary planet wheels (25) and the secondary planet carrier (26) are in a collinear relation.
3. The robot integrated joint with the nested type two-stage planetary reduction structure as claimed in claim 2, wherein the inner gear ring (241), the collar (243) and the outer gear ring (242) form a double-faced gear (24), the double-faced gear (24) is in a ring body structure, the primary planetary transmission wheel assembly is located in a cylindrical cavity inside the ring body, the secondary planetary transmission wheel assembly is located outside the ring body, and the primary planetary transmission wheel assembly and the secondary planetary transmission wheel assembly form an inner and outer nested structure in a positional relationship.
4. The robot integrated joint of a nested type two-stage planetary reduction structure according to claim 3, wherein the inner ring gear (241) and the outer ring gear (242) are respectively connected with the collar (243) through splines.
5. The robot integrated joint of a nested type two-stage planetary reduction structure according to claim 3, wherein the inner ring gear (241) and the outer ring gear (242) are respectively connected with the collar (243) by an adhesive.
6. The robot integrated joint with the nested two-stage planetary reduction structure according to claim 3, wherein the primary planetary transmission wheel assembly works in a ring-moving mode, and the rotating power is transmitted to the inner gear ring (241) through the primary sun gear (21) and the primary planet gear (22), so that the double-faced gear (24) is driven to rotate around the movement axis of the primary sun gear (21); in the working process, the primary planet carrier (23) is fixed, and the inner gear ring (241) outputs rotating power, namely, the primary planetary transmission wheel component adopts a ring-motion working mode;
the secondary planetary transmission wheel assembly works in a frame-moving mode, and the rotating power of the double-faced gear (24) is transmitted to the secondary planetary frame (26) through the outer gear ring (242) and the secondary planetary wheel (25), so that the secondary planetary frame (26) is driven to rotate around the movement axis of the primary sun wheel (21), and the power output of the robot joint is realized; in the working process, the secondary gear ring (27) is fixed, the secondary planet carrier (26) outputs rotary power, and the secondary planetary transmission wheel assembly adopts a carrier moving type working mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010056463.5A CN111216117A (en) | 2020-01-18 | 2020-01-18 | Integrative joint of robot of nested type two-stage planet speed reduction structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010056463.5A CN111216117A (en) | 2020-01-18 | 2020-01-18 | Integrative joint of robot of nested type two-stage planet speed reduction structure |
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| CN111216117A true CN111216117A (en) | 2020-06-02 |
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| CN202010056463.5A Pending CN111216117A (en) | 2020-01-18 | 2020-01-18 | Integrative joint of robot of nested type two-stage planet speed reduction structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276157A (en) * | 2021-06-15 | 2021-08-20 | 南方科技大学 | Multistage compact type electrically-driven joint module and robot |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276157A (en) * | 2021-06-15 | 2021-08-20 | 南方科技大学 | Multistage compact type electrically-driven joint module and robot |
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